EP3572828B1 - Système combiné de radar et de communication au moyen d'une forme d'onde de signal commune - Google Patents
Système combiné de radar et de communication au moyen d'une forme d'onde de signal commune Download PDFInfo
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- EP3572828B1 EP3572828B1 EP19171492.2A EP19171492A EP3572828B1 EP 3572828 B1 EP3572828 B1 EP 3572828B1 EP 19171492 A EP19171492 A EP 19171492A EP 3572828 B1 EP3572828 B1 EP 3572828B1
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- H04L25/02—Details ; arrangements for supplying electrical power along data transmission lines
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- H04L27/3845—Demodulator circuits; Receiver circuits using non - coherent demodulation, i.e. not using a phase synchronous carrier
- H04L27/3854—Demodulator circuits; Receiver circuits using non - coherent demodulation, i.e. not using a phase synchronous carrier using a non - coherent carrier, including systems with baseband correction for phase or frequency offset
- H04L27/3863—Compensation for quadrature error in the received signal
Definitions
- Apparatus for generating and encoding data onto chirp signals said apparatus including a chirp generator configured to generate a chirp; a cyclic frequency offset modulator configured to set the cyclic frequency offset of the chirp to a cyclic frequency offset selected from a plurality of predetermined cyclic frequency offsets; and a phase modulator configured to modulate the chirp onto a signal to form a chirp signal symbol at a phase offset selected from a plurality of predetermined phase offsets.
- a short-range inter-vehicle communication and warning apparatus comprises a forward radar and a backward radar.
- the apparatus uses the radars to generate Frequency Modulation/Continuous Wave (FMCW) signals, uses amplitude shift keying for data modulation and arranges a special packet format, to realize such a low cost and fast response device of collision avoidance for vehicles.
- FMCW Frequency Modulation/Continuous Wave
- the apparatus has the dual capabilities of detecting and communicating simultaneously. It can also measure the relative speed of a preceding/rear vehicles and the relative inter-vehicle distance.
- the apparatus also exchanges the real-time traffic information with the preceding/rear vehicles at the same time. It is applicable to a one-to-one or one-to-many intervehicle channel model.
- US 2017/0214746 A1 Apparatuses, systems and methods for communicating between a first device and a second device are provided.
- Distance control circuitry including at least one transceiver is used to transmit and receive distance control signals and to detect a distance between the first device and a remote object based on a transmitted distance control signal and a received distance control signal reflected by the remote object.
- Communication circuitry coupled to the transceiver is used to modulate user data of the first device onto a transmitted distance control signal and/or to extract user data from a distance control signal received from the second device.
- Such a combined system may reduce cost, size, weight and power of the final installed radar and communications systems through this commonality as well as provide easier maintenance and upgrades.
- By implementing the radar and communications systems together almost all the interference problems can be addressed within the common system, rather than waiting for installation at different places on the platform and then analyzing such interference.
- upgrades of both systems can be accomplished at the same time and integration problems would be already taken care of.
- the common waveform proposed herein avoids the problems associated with operating separate systems and allows both radar and communications functions to operate at the same time without interference or reducing the performance of one at the expense of the other.
- the communications function disclosed herein uses digital modulation, in which changes in phase, magnitude and frequency are used to represent digital information.
- each transmitted bit or groups of bits
- symbol means the state of the carrier, which is defined as having a specific phase, magnitude and frequency.
- the rate at which the carrier changes state from one symbol to the next is called the symbol rate.
- Radar signals typically fall into two categories: pulsed signals and continuous signals. Pulsed signals are on for a short period of time and then turn off and wait for a returned echo.
- frequency-modulated continuous wave (FMCW) radar typically uses a frequency-modulated continuous signal that bounces off the targets continuously and returns to the receiver.
- FMCW frequency-modulated continuous wave
- a linear frequency sweep is usually applied and the returned signal can be mixed with the transmitted signal to produce a single expected tone for each target return. This linear frequency sweep is also called a linear chirp or linear frequency-modulated signal.
- FMCW radar enables short-range measurement. Pulsed radars do not transmit and receive simultaneously and therefore have a minimum measurement range. By contrast, FMCW radars transmit and receive simultaneously and are capable of very short minimal measurement ranges.
- One limitation of an FMCW radar is the presence of a large direct current component in the demodulated FMCW intermediate (IF) frequency which should be filtered to prevent amplifier saturation.
- IF demodulated FMCW intermediate
- FMCW radar is able to achieve much shorter range measurements than pulsed radar.
- FMCW radar impose no requirement on operating frequency and in fact high-frequency operation is desirable as an equivalent beam-width can be achieved with a physically smaller antenna. Additionally, since the range resolution depends only on the chirp bandwidth, the bandwidth as a percentage of the carrier frequency is smaller, so that components are more easily available.
- Radar and communications system requirements force design choices with respect to the amount of signal power.
- the respective optimum signal strengths are described briefly below, emphasizing the differences. For a combined system, both signal strength criteria should be met.
- the maximum range of the radar signal R max is typically much less than the range of the communications signal R comm , i.e., R max ⁇ R comm .
- symbols having waveforms of the types depicted in FIG. 2A may be transmitted concurrently.
- the reflected and returned signals may be processed in parallel to derive various parameters characterizing the targets detected by the FMCW radar system.
- the range resolution ⁇ R represents the minimum discernible range of two targets with the same velocity
- the velocity resolution ⁇ v represents the minimum discernible velocity of two targets with the same range.
- the required bandwidth B is related to the given range resolution ⁇ R and can be formulated as B ⁇ v c 2 ⁇ R
- the observation time T is related to the velocity resolution ⁇ v and can be expressed as T ⁇ v c 2 f c ⁇ v
- the Nyquist sampling theorem then requires f s radar ⁇ 2 BR max v c T + 2 f c v max v c in order to not have the maximum beat frequency fold over in the frequency domain.
- a modulated signal is transmitted and received through the antennas, and the transmitted and received signals are multiplied in the time domain, filtered and processed to find the peaks in frequency which correspond to target returns.
- the final result is a stream of measurements including range and range rate (relative velocity) of all the targets present.
- the radar receiver of the combined radar/communications system 130 includes reception antenna 116, low-noise reception amplifier 118, a frequency mixer 120a (which is also connected to VCO 107), a low-pass filter 122a with a bandwidth B, an analog-to-digital converter 124a, and a baseband radar signal processing module 126 (which is also connected to the digital modulation symbol generator 136) connected in series.
- the reception antenna 116 receives RF electromagnetic waves reflected from the radar target 102.
- the reception antenna 116 converts the reflected RF electromagnetic waves into electrical signals which are amplified by low-noise reception amplifier 118.
- the communications receiver of the combined radar/communications system 130 includes the reception antenna 116, the low-noise reception amplifier 118, a frequency mixer 120b (which is connected to a VCO 142 that applies a modulating signal of frequency f c (Rx) to the voltage control input from waveform generator 144, a low-pass filter 122b with a bandwidth B , an analog-to-digital converter 124b, and a baseband communications signal processing module 138 connected in series.
- the reception antenna 116 receives RF electromagnetic waves transmitted by the transmitter of the remote communications platform 132.
- the frequency mixer 120b frequency mixes the received signals output by the low-noise reception amplifier 118 with the signals having a carrier frequency f c (Rx) generated by the VCO 142 to produce second modulated signals containing phase information.
- the low-pass filter 122b performs low-pass filtering.
- the analog-to-digital converter 124a samples the filtered signals and converts those analog signals into digital signals.
- the baseband communications signal processing module 138 is configured to decode the digitals signals to extract the received communications data, which is then stored in a non-transitory tangible computer-readable storage medium 140.
- the basic FMCW system consists of a transmitter, a receiver and a mixer.
- a modulated signal is transmitted and received, and the transmitted and received signals are multiplied in the time domain and processed. More specifically, the process typically involves at least the following steps: (1) calculate the transmitted signal; (2) calculate the received signal; (3) mix the signals by multiplying in the time domain; (4) filter out one of the two derived sinusoidal terms; and (5) perform FFT on the filtered signal.
- coefficients parameters of a polynomial function that control the chirp slope (a.k.a. chirp rate), initial frequency and initial phase of the chirp signal.
- FIG. 8 shows one particular method 2 using a parallel delay and Hilbert filter approach before phase estimation.
- the final step is to unwrap the raw phase value.
- the incoming signal is real.
- An analytic signal is formed using a Hilbert filter 24 and a matched delay 26 arranged in parallel.
- the matched delay 26 provides a delay that matches the delay produced by the Hilbert filter 24.
- the delayed (real) and filtered (imaginary) signals are output in parallel to a phase estimator 28, which estimates the phases of the streaming signals. (Note that a normalized phase between -1 and 1 is used in what follows, rather than - ⁇ and ⁇ . )
- the signal phases output by phase estimator 28 are then unwrapped by a phase unwrapper 30.
- FIGS. 9-11 are diagrams symbolically representing electronic circuitry for respectively computing the values of three terms for estimating the chirp slope of the received signal (namely, the terms A 1 ( m )(-2 Sxy n- 1 + Sy n- 1 + m ⁇ n ), A 2 ( m )( -Sy n- 1 + m ⁇ n ) and A 3 ( m )( ⁇ n - ⁇ n-m ) in Eq. (10)) implemented in a digital form that may be instantiated in a field-programmable gate array (FPGA) or an application-specific integrated circuit (ASIC).
- FPGA field-programmable gate array
- ASIC application-specific integrated circuit
- the module 10 includes a delay buffer 12 which can be programmed for different delay values (up to some implementation-dependent maximum) where the delay is set equal to the slope length m.
- the phase estimate ⁇ n is also inputted to multiplier 16, which outputs the term m ⁇ n to a module 14 that estimates the value of parameter - 2 Sxy n- 1 .
- the summer 18 adds the estimated values output by module 12 and multiplier 16 to form the sum ( Sy n- 1 + m ⁇ n ).
- the summer 20 then adds the estimated value output by module 14 to the sum output by summer 18 to form the sum ( - 2 Sxy n -1 + Sy n- 1 + m ⁇ n ).
- the multiplier 22 then multiplies the sum output by summer 20 and the value A 1 ( m ) to produce a value for the first term A 1 ( m )(-2 Sxy n- 1 + Sy n- 1 + m ⁇ n ) in Eq. (10).
- FIG. 12 is a flowchart identifying steps of a method for baseband communications processing (performed by the baseband communications signal processing module 138 identified in FIG. 7 ) in accordance with one embodiment.
- the process partly depicted in FIG. 12 can generate parameter estimates using streaming (or on-the-fly) calculations and therefore is suitable for FPGA or ASIC or other hardware-based implementation.
- the term "block” refers to an electronic circuit embodied in hardware.
- the baseband communications processing depicted in FIG. 12 works as follows.
- Each of the slope coefficient estimation blocks 52 that do the calculations from Eq. (10) are labeled as a ( T i ) in FIG. 12 and similarly for the phase coefficient estimation block 62 labeled as c ( T i ) for Eq. (11). Only the references to A i ( m ) in the implementation figures ( FIGS. 9-11 ) need to be changed to C i ( m ) to calculate c ( T i ).
- the smallest of the symbol metrics d i is then chosen in block 58 and that information is passed to both a symbol tracking block 60 and phase coefficient estimation blocks 62 and 64 which estimate phase coefficients c of each of the complementary chirps using Eq. (11).
- the symbol tracking block 60 identifies the time of the minimum value of the symbol metric of the chosen chirp slope and, using a standard symbol time filter, produces a symbol sample time signal that is used by respective symbol sampling blocks 66 and 68 to sample the phases computed from the phase coefficient estimation blocks 62 and 64.
- This processing block takes sequential sets of bits to be transmitted and converts them to digital values characterizing the symbols representing the communications data to be transmitted. It is very similar to how symbols get mapped to ( I , Q ) constellations before modulation. If the values of C and D are powers of 2, the main steps are as follows:
- a module may be a unit of distinct functionality that may be implemented in software, hardware, or combinations thereof, except for those modules which are preferably implemented as hardware or firmware to enable streaming calculations as disclosed herein.
- the functionality of a module is performed in any part through software, the module can include a non-transitory tangible computer-readable storage medium.
- Such devices typically include a processor, processing device, or controller, such as a general-purpose central processing unit, a microcontroller, a reduced instruction set computer processor, an ASIC, a programmable logic circuit, an FPGA, a digital signal processor, and/or any other circuit or processing device capable of executing the functions described herein.
- the methods described herein may be encoded as executable instructions embodied in a non-transitory tangible computer-readable storage medium, including, without limitation, a storage device and/or a memory device. Such instructions, when executed by a processing device, cause the processing device to perform at least a portion of the methods described herein.
- the above examples are exemplary only, and thus are not intended to limit in any way the definition and/or meaning of the terms "processor” and "computing device”.
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Claims (15)
- Système combiné de radar/communications (130) comprenant un émetteur commun de radar/communications (131) comportant une antenne d'émission (110) et un récepteur combiné de radar et de communications (133) comportant une antenne de réception commune (116), dans lequel l'émetteur commun de radar/communications (131) est configuré pour émettre des signaux combinés de radar/communications modulés en forme d'onde comprenant des symboles, chaque symbole étant constitué d'une modulation d'impulsion montante et d'une modulation d'impulsion descendante, et le récepteur combiné de radar et de communications (133) comprend :un premier mélangeur (120a) qui mélange des signaux reçus en provenance de l'antenne de réception (116) avec les signaux émis et délivre des premiers signaux démodulés ;un module de traitement de signal radar en bande de base (126) configuré pour estimer la distance et la variation de distance d'un objet radar sur la base de fréquences de battement déduites des premiers signaux démodulés ;un second mélangeur (120b) qui mélange des signaux reçus en provenance de l'antenne de réception (116) avec un signal modulé en fréquence ayant une fréquence centrale d'une plateforme de communications d'émission (132), une fréquence centrale différente de la fréquence centrale d'émission, située à distance de l'antenne de réception commune (116) et délivre des seconds signaux démodulés ; etun module de traitement de signaux de communications en bande de base (138) configuré pour détecter des pentes et des phases initiales des modulations d'impulsion montantes et descendantes de chaque symbole dans les seconds signaux démodulés.
- Système (130) selon la revendication 1, dans lequel les modulations d'impulsion montantes et descendantes de symboles successifs ont des pentes non uniformes.
- Système (130) selon l'une quelconque des revendications 1 à 2, dans lequel les modulations d'impulsion montantes et descendantes de symboles successifs ont des phases initiales non uniformes.
- Système (130) selon l'une quelconque des revendications 1 à 3, dans lequel le module de traitement de signaux de communications en bande de base (138) comprend :un estimateur de phase (28) comprenant un matériel ou un micrologiciel configuré pour estimer une phase de signal instantanée respective du signal reçu pour chaque échantillon de signal ; etun estimateur de coefficient de pente (52) connecté à l'estimateur de phase (28) et comprenant un matériel ou un micrologiciel configuré pour estimer un coefficient de pente pour chaque symbole du signal reçu.
- Système (130) selon la revendication 4, dans lequel l'estimateur de coefficient de pente (52) est un réseau de portes programmable par l'utilisateur ou un circuit intégré spécifique d'application.
- Système (130) selon l'une quelconque des revendications 1 à 5, selon lequel le module de traitement de signaux de communications en bande de base (138) comprend en outre une paire d'estimateurs de coefficient de phase (62, 64) configurés pour estimer un coefficient de phase respectif pour chacune des modulations d'impulsion montante et descendante pour chaque symbole dans le signal reçu.
- Système (130) selon la revendication 6 lorsqu'elle dépend des revendications 4 ou 5, dans lequel le module de traitement de signaux de communications en bande de base (138) comprend en outre un module de mise en correspondance entre pente/phase et symbole (70) configuré pour calculer trois indices identifiant chaque symbole sur la base du coefficient de pente estimé et de la paire de coefficients de phase estimés.
- Système (130) selon l'une quelconque des revendications 1 à 7, dans lequel l'émetteur commun de radar/communications (131) comprend en outre les composants suivants connectés en série :une source de données de communications (134) qui stocke des données à transmettre ;un générateur de symboles de modulation numérique (136) qui convertit les données de communication en symboles ;un convertisseur numérique-analogique (105) qui convertit les symboles numériques en symboles analogiques ;un générateur de forme d'onde combiné de radar/communications (106') qui convertit les symboles analogiques reçus en provenance du convertisseur numérique-analogique en tensions de commande d'oscillateur ;un oscillateur commandé en tension (107) qui applique un signal de modulation à un signal de porteuse ayant une fréquence d'émission basée sur les entrées de commande de tension et délivre des signaux combinés de radar/communications modulés en forme d'onde ; etun amplificateur d'émission (108) qui amplifie les signaux combinés de radar/communications modulés en forme d'onde obtenus,dans lequel l'antenne d'émission (110) diffuse les signaux combinés de radar/communications modulés en forme d'onde.
- Système (130) selon la revendication 8, dans lequel le générateur de symboles de modulation numérique est configuré pour convertir des bits représentant des données de communications à transmettre en valeurs numériques caractérisant des symboles à transmettre.
- Système (130) selon la revendication 9, dans lequel les valeurs numériques sont une pente d'une première modulation d'impulsion d'un symbole, une phase initiale de la première modulation d'impulsion du symbole et une phase initiale de la seconde modulation d'impulsion du symbole.
- Procédé d'exploitation d'un système combiné de radar/communications (130), comprenant :l'émission de signaux combinés de radar/communications modulés en forme d'onde comprenant des symboles à l'aide d'une antenne d'émission (110), chaque symbole étant constitué d'une modulation d'impulsion montante et d'une modulation d'impulsion descendante ;la réception, au niveau d'une antenne de réception (116), de parties des signaux combinés de radar/communications modulés en forme d'onde renvoyés par une cible radar (102) et d'ondes électromagnétiques RF provenant d'une plateforme de communications (132) ;le mélange de signaux reçus en provenance de l'antenne de réception (116) avec les signaux émis pour produire des premiers signaux démodulés ;la déduction de fréquences de battement à partir des premiers signaux démodulés ;l'estimation de la distance et de la variation de distance d'un objet radar sur la base des fréquences de battement ;le mélange de signaux reçus en provenance de l'antenne de réception (116) avec un signal modulé en fréquence ayant une fréquence centrale d'une plateforme de communications d'émission, une fréquence centrale différente de la fréquence centrale d'émission, située à distance de l'antenne de réception commune (116) pour produire des seconds signaux démodulés ; etla détection de pentes et de phases initiales des modulations d'impulsion montante et descendante de chaque symbole dans les seconds signaux démodulés.
- Procédé selon la revendication 11, dans lequel les modulations d'impulsion descendante et montante de symboles successifs ont des pentes non uniformes.
- Procédé selon l'une quelconque des revendications 11 à 12, dans lequel les modulations d'impulsion descendante et montante de symboles successifs ont des phases initiales non uniformes.
- Procédé selon l'une quelconque des revendications 11 à 13, dans lequel la détection des pentes et des phases initiales comprend :l'estimation d'une phase de signal instantanée respective du signal reçu pour chaque échantillon de signal ;l'estimation d'un coefficient de pente pour chaque symbole du signal reçu ; etl'estimation d'un coefficient de phase respectif pour chacune des modulations d'impulsion montante et descendante pour chaque symbole dans le signal reçu.
- Procédé selon la revendication 14, comprenant en outre le calcul de trois indices identifiant chaque symbole sur la base du coefficient de pente estimé et de la paire de coefficients de phase estimés.
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